CN115223362B - Special lane for dynamic automatic driving of urban road and use method thereof - Google Patents

Special lane for dynamic automatic driving of urban road and use method thereof Download PDF

Info

Publication number
CN115223362B
CN115223362B CN202210782441.6A CN202210782441A CN115223362B CN 115223362 B CN115223362 B CN 115223362B CN 202210782441 A CN202210782441 A CN 202210782441A CN 115223362 B CN115223362 B CN 115223362B
Authority
CN
China
Prior art keywords
vehicle
automatic driving
road
distance
social
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210782441.6A
Other languages
Chinese (zh)
Other versions
CN115223362A (en
Inventor
王杉
黄伟
保丽霞
林峥忆
左淑霞
蒋震寰
宋之锦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Urban Construction Design Research Institute Group Co Ltd
Original Assignee
Shanghai Urban Construction Design Research Institute Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Urban Construction Design Research Institute Group Co Ltd filed Critical Shanghai Urban Construction Design Research Institute Group Co Ltd
Priority to CN202210782441.6A priority Critical patent/CN115223362B/en
Publication of CN115223362A publication Critical patent/CN115223362A/en
Application granted granted Critical
Publication of CN115223362B publication Critical patent/CN115223362B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
    • E01C1/002—Design or lay-out of roads, e.g. street systems, cross-sections ; Design for noise abatement, e.g. sunken road
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
    • E01F9/553—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members
    • E01F9/559—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members illuminated
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Tourism & Hospitality (AREA)
  • Architecture (AREA)
  • Marketing (AREA)
  • Theoretical Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Strategic Management (AREA)
  • General Business, Economics & Management (AREA)
  • Economics (AREA)
  • Human Resources & Organizations (AREA)
  • Health & Medical Sciences (AREA)
  • Educational Administration (AREA)
  • Development Economics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a special dynamic automatic driving lane for an urban road and a use method thereof, which are arranged in a road network of the urban road; an entrance detector is arranged at the initial departure point of the connection of the road network and the automatic driving vehicle field library as an entrance of the road network; the special lane comprises more than one road section; every two adjacent road sections are connected through an intersection, namely, the intersection; the first road section is provided with an initial road section variable information mark, and the rest road sections are provided with road section variable information marks; each road section is provided with a road section detector, an intelligent spike and a radar integrated machine. When the intelligent road spike and lightning all-in-one machine are used, the initial road section variable information marks, all intelligent road spikes and all lightning all-in-one machines are controlled to work according to the entrance detector and each road section detector. According to the invention, the dynamic automatic driving special road is reasonably arranged, so that the input-output ratio is reduced, and the traffic efficiency of urban roads and the utilization rate of lane resources are improved.

Description

Special lane for dynamic automatic driving of urban road and use method thereof
Technical Field
The invention relates to the technical field of traffic management, in particular to a special lane for dynamic automatic driving of an urban road and a using method thereof.
Background
With the development of new technologies such as 5G, cloud computing, big data, internet of things and the like and the needs of masses for intelligent and attractive life, the industry has generally reached consensus, automatic driving can become a prospective development direction for decades in the future, the latest significant advantages of basic construction are added, the automatic driving industry is in great opportunity, and all parties on the upstream and downstream of an industry chain strive for layout planning and research testing.
However, for many reasons such as cost and technology, it is difficult to scale the autonomous vehicles to mass production, and it is difficult to estimate the flow rate of the autonomous vehicles on the urban road in the future, so that whether or not to install an autonomous dedicated lane (hereinafter referred to as a dedicated lane) is a great difficulty.
If the automatic driving special road is arranged under the same road scale, the safety of the automatic driving vehicle can be effectively ensured, the traffic efficiency of the automatic driving vehicle can be effectively improved, and the emission and the oil consumption are obviously reduced.
If the road scale of the social vehicle is kept unchanged, the cost of land, construction, operation and the like is increased dramatically by increasing the special road for automatic driving, and the input-output ratio is greatly reduced under the condition of smaller flow of the automatic driving vehicle.
Therefore, how to reduce the input-output ratio and improve the traffic efficiency and the lane resource utilization rate of the urban road becomes a technical problem which needs to be solved by the technicians in the field.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a special lane for dynamic automatic driving of urban roads and a method for using the same, which aims to reduce the input-output ratio of automatic driving vehicles and improve the traffic efficiency of urban roads.
In order to achieve the above purpose, the invention discloses a special dynamic automatic driving lane for an urban road, which is arranged in a road network of the urban road; an entrance detector is arranged at the initial starting point of the connection of the road network and the automatic driving vehicle field library as an entrance of the road network;
the special lane comprises more than one road section;
every two adjacent road sections are connected through an intersection, namely, a crossing;
the first road section is provided with an initial road section variable information mark, and the rest road sections are provided with road section variable information marks;
each road section is provided with a road section detector, an intelligent spike and a radar integrated machine.
Preferably, the distance S from the road segment detector of each road segment to the variable information sign of the next adjacent road segment rc The calculation formula of (2) is as follows:
wherein S is rc The distance from the road segment detector of each road segment to the variable information mark of the next adjacent road segment is in meters, and the value of the distance is taken as a large value in ensuring emptying and ensuring channel changing;
L c the clear distance between the automatic driving vehicle AV and the front social vehicle is expressed in meters;
max v A maximum vehicle speed in meters per second for an autonomous vehicle AV traveling on a lane;
min v C the minimum running speed of the social vehicle is expressed in m/s;
the distance is the maximum offset distance in meters for the social vehicle lane change.
Preferably, the initial section variable information flag includes three selectable positions;
the first optional position needs to meet the condition that the distance between the front automatic driving vehicle AV running at the minimum speed and the rear social vehicle running at the maximum speed on the special lane is not less than the emptying distance;
a second of said selectable positions, the safety distance point, being the position closest to the entrance detector;
the third optional position needs to meet the requirement that the distance between the front social vehicle running at the minimum speed and the rear automatic driving vehicle AV running at the maximum speed on the special road is greater than or equal to the safe distance, and the position of the entrance detector is farthest;
the calculation formula is as follows: the driving direction of the special lane is taken as the positive direction of the x axis, the following point positions are compared with the reference position positioned on the x axis, and the third optional position x is sequentially arranged along the positive direction of the x axis 3 First of said selectable positions x 1 And a second said selectable position x 2 ：
When the point C is the last social vehicle which enters the special lane after the automatic driving vehicle AV is detected to start to enter, and the position of the variable information mark of the initial road section is passed;
the point A is the automatic driving vehicle AV entering the road network;
then
S v ＝S a ∪S b ；
Wherein S is a Optional point position a and x arranged for the variable information mark of the initial road section 1 ≤S a ≤x 2 ；
S b Optional point b laid out for variable information sign, and S b ≤x 3 ；
S v Optional positions for the variable information sign layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is expressed in meters;
L s the unit is meter for the safe distance between the automatic driving vehicle and the rear social vehicle;
t is the running time of the automatic driving vehicle from the position of the entrance ramp detector to the position of the entrance ramp detector converging into the automatic driving special lane, and the unit is s;
min v C the minimum running speed of the social vehicle is expressed in meters per second;
max v C the maximum running speed of the social vehicle is expressed in m/s;
after entering the automatic driving lane at a maximum speed for the automatic driving vehicle, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
and after entering the automatic driving lane at the minimum speed, the automatic driving vehicle is positioned at the position of the automatic driving special lane.
The invention also provides a method for using the special lane for dynamic automatic driving of the urban road, which comprises the following steps:
step 1, detecting whether an automatic driving vehicle AV enters a road network or not through the entrance detector;
if yes, displaying characters or patterns of the special lane for prohibiting the social vehicle from driving in, starting the corresponding thunder-vision all-in-one machine to snap the social vehicle which is driven in, starting the intelligent spike, prompting the social vehicle within the flashing range of the intelligent spike to immediately drive away through the flashing of the intelligent spike, and executing the step 2;
if not, displaying characters or patterns allowing the social vehicle to drive in by the special lane by the initial variable information mark;
the lightning all-in-one machine and the intelligent spike are closed, and the step 1 is repeatedly executed;
step 2, detecting whether the automatic driving vehicle AV enters the corresponding road section or not through the road section detector of the first road section, namely, whether the automatic driving vehicle AV enters the special lane or not;
if yes, dynamically adjusting the flashing range of the intelligent spike on the road section where the automatic driving vehicle AV is located, prohibiting the social vehicle from driving into the flashing range of the intelligent spike, simultaneously capturing the social vehicle driving into the flashing range of the intelligent spike through the thunder and vision all-in-one machine on the corresponding road section, and executing the step 3;
if not, repeating the step 2;
step 3, the road segment detector of each road segment is started to detect whether the automatic driving vehicle AV enters the corresponding road segment;
if yes, dynamically adjusting the flashing range of the intelligent spike of the road section where the automatic driving vehicle AV is located, enabling the road section variable information mark of the next adjacent road section to display characters or patterns for prohibiting the social vehicle from driving in, starting the radar integrated machine of the next adjacent road section to snap the social vehicle driving in, starting the intelligent spike of the next adjacent road section, prompting the social vehicle within the flashing range of the intelligent spike to immediately drive away through the flashing of the intelligent spike, adjusting the initial variable information mark or the variable information mark of the road section before the road section where the automatic driving vehicle AV is located to display characters or patterns for allowing the social vehicle to drive in, and executing the step 4;
if not, repeating the step 3;
step 4, the road section detector of the last road section detects whether the automatic driving vehicle AV drives out of the corresponding road section, namely whether the automatic driving vehicle AV drives out of the special lane;
if yes, displaying characters or patterns of the special lane allowing the social vehicle to drive in by the initial road section variable information mark and each road section variable information mark; all intelligent spikes are closed and extinguished, and all the lightning is integrally closed;
otherwise, repeating the step 4.
Preferably, the intelligent spikeThe flashing length at start-up isThe calculation formula is as follows
Wherein,after entering the automatic driving lane at a maximum speed for the automatic driving vehicle, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
S v optional positions for the variable information sign layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is expressed in meters.
Preferably, in step 1, when the social vehicle is already queued at the intersection solid line position and cannot travel away, the social vehicle leaves the special lane at the next intersection exit.
Preferably, the method for dynamically adjusting the shining range of the intelligent spike comprises the following steps:
the clear distance between the automatic driving vehicle AV and the front social vehicle + the length of the automatic driving vehicle AV + the safe distance between the automatic driving vehicle and the rear social vehicle.
Preferably, the method for dynamically adjusting the shining range of the intelligent spike comprises the following steps:
and (3) segmenting each road section at equal intervals according to the total length, wherein the flashing range of the intelligent spike is an area where an automatic driving vehicle AV is located and an area meeting the safety distance and the emptying distance.
More preferably, the emptying distance L c The calculation formula of (2) is as follows:
wherein,the maximum driving distance of the automatic driving vehicle running on the automatic driving special road in the reaction time is expressed in meters;
finding the maximum safe braking distance in meters required by sudden stop of a front vehicle for the automatic driving vehicle running on an automatic driving special road;
the maximum driving distance of the front vehicle in the reaction time is expressed in meters;
the maximum distance required for lane changing when the front vehicle finds the rear vehicle comes is measured in meters;
a reaction time unit is seconds for the autonomous vehicle running on the autonomous dedicated road;
max v A the maximum speed of the automatic driving vehicle running on the automatic driving special road is expressed as kilometers per hour;
for the minimum braking acceleration of the autonomous vehicle travelling on the dedicated autopilot road, in m/s 2 ；
The maximum reaction time of the front vehicle is expressed in seconds;
max v f the unit is kilometers/hour for the maximum speed of the front vehicle;
and (3) changing the transverse maximum offset distance for the front vehicle, wherein the unit is meter.
More preferably, the safety distance L s The calculation formula of (2) is as follows:
wherein,the maximum driving distance of the rear vehicle in the reaction time is expressed in meters;
when the rear vehicle finds the automatic driving vehicle running on the automatic driving special road, the maximum distance required by road changing is measured in meters;
the maximum safety braking distance required when the autonomous vehicle driving on the automated driving lane is suddenly stopped is found for the rear vehicleThe unit is rice;
the unit is second for the maximum reaction time of the rear vehicle;
max v r the unit is kilometers/hour for the maximum speed of the rear vehicle;
the transverse maximum offset distance of the lane change for the rear vehicle is expressed in meters;
for the minimum braking acceleration of the rear vehicle, the unit is meter/second 2 。
The invention has the beneficial effects that:
according to the invention, the dynamic automatic driving special road is reasonably arranged, so that the input-output ratio is reduced, and the traffic efficiency of urban roads and the utilization rate of lane resources are improved.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
Fig. 1 shows a schematic structural diagram of an embodiment of the present invention.
FIG. 2 illustrates a flow chart for use of an embodiment of the present invention.
Fig. 3 is a schematic diagram showing an initial section variable information flag setting position in an embodiment of the present invention.
Fig. 4 shows a schematic view of the length of flashing light upon actuation of a smart spike in an embodiment of the invention.
Fig. 5 is a schematic diagram showing dynamic adjustment of the sparkle range of the intelligent spike in an embodiment of the present invention.
Detailed Description
Examples
As shown in fig. 1, the urban road dynamic automatic driving special lane is arranged in the road network of the urban road; an entrance detector is arranged at the initial departure point of the connection of the road network and the automatic driving vehicle field library as an entrance of the road network;
the special lane comprises more than one road section;
every two adjacent road sections are connected through an intersection, namely, the intersection;
the first road section is provided with an initial road section variable information mark, and the rest road sections are provided with road section variable information marks;
each road section is provided with a road section detector, an intelligent spike and a radar integrated machine.
When no automatic driving vehicle runs, the automatic driving special road is opened to the social vehicle, and the social vehicle can run on the automatic driving special road; when the automatic driving vehicle is about to arrive, social vehicles are forbidden to enter a certain distance in a road section in front of and behind the automatic driving vehicle in the special road, and other areas still allow the social vehicles to pass through.
In practical application, the safe and rapid passing of the automatic driving vehicle can be ensured through the setting of the entrance detector, the initial variable information sign, the road segment detector, the road segment variable information sign, the intelligent spike, the radar integrated machine, the safe distance and the emptying distance.
The arrangement of the variable information sign and the initial variable information sign is mainly used for displaying whether the road right special for front automatic driving is open to the social vehicle or not, namely, by displaying information change, whether the rear social vehicle can drive into the special road or not is prompted, and when the variable information sign displays 'X', the sign prevents the rear social vehicle from driving into the special road; when the variable information sign displays a green arrow in a specific direction, social vehicles behind the sign may drive into the private road in compliance with traffic regulations.
The arrangement position of the variable information sign is to realize that when the automatic driving vehicle enters the special road, no social vehicle exists in the front clear distance and the rear safe distance.
The road section variable information sign is basically installed by means of a pole.
The link detector is to detect whether the corresponding link has an autonomous vehicle AV entered.
The intelligent spike is used for prompting the range of the special vehicle and prompting the social vehicle to leave the special lane.
The radar integrated machine is used for capturing social vehicles which do not leave or enter when the special vehicle is started.
In some embodiments, the distance S of the road segment detector of each road segment to the variable information sign of the next adjacent road segment rc The calculation formula of (2) is as follows:
wherein S is rc The distance from the road segment detector of each road segment to the variable information mark of the next adjacent road segment is in meters, and the distance is taken as a value in ensuring emptying and ensuring channel changing;
L c the clear distance between the automatic driving vehicle AV and the front social vehicle is expressed in meters;
max v A maximum vehicle speed in meters per second for an autonomous vehicle AV traveling on a lane;
min v C the minimum running speed of the social vehicle is expressed in m/s;
the distance is the maximum offset distance in meters for the social vehicle lane change.
In practical application, the distance S from each segment detector to the variable information sign of the next segment rc It is necessary to ensure that when the autonomous vehicle AV travels to the exit road, i.e. the entrance of the next road section, at the fastest speed, the social vehicle in front of the next road section has already traveled away, or is outside its emptying distance. The critical situation is that the last social security run passed by the transition moment of the variable information sign is to the clear distance of the running vehicle AV or that the changed track is leaving the special track.
As shown in fig. 3, in some embodiments, the initial link variable information flag includes three selectable positions;
the first optional position needs to meet that the distance between the front automatic driving vehicle AV running at the minimum speed and the rear social vehicle running at the maximum speed on the special lane is not less than the emptying distance;
a second alternative location, the safe distance point, is the location closest to the entrance detector;
the third optional position needs to meet the requirement that the distance between the front social vehicle running at the minimum speed on the special road and the rear automatic driving vehicle AV running at the maximum speed is more than or equal to the safe distance, and the position of the entrance detector is farthest;
the calculation formula is as follows: the driving direction of the special lane is taken as the positive direction of the x axis, the following point positions are compared with the reference position positioned on the x axis, and the third optional position x is sequentially arranged along the positive direction of the x axis 3 First optional position x 1 And a second alternative position x 2 ：
When the point C is the last social vehicle which enters the special lane through the position of the variable information mark of the initial road section after the automatic driving vehicle AV is detected to start to enter;
the point A is an automatic driving vehicle AV entering a road network;
then
S v ＝S a ∪S b ；
Wherein S is a Optional point position a and x for setting variable information marks of initial road section 1 ≤S a ≤x 2 ；
S b Optional point b laid out for variable information sign, and S b ≤x 3 ；
S v For variable information marksOptional positions of layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is in meters;
L s the unit is meter for the safe distance between the automatic driving vehicle and the rear social vehicle;
t is the running time from the position of the entrance ramp detector to the position of the automatic driving vehicle entering the automatic driving special lane, and the unit is s;
min v C the minimum running speed of the social vehicle is expressed in m/s;
max v C the maximum running speed of the social vehicle is expressed in m/s;
after entering the automatic driving lane at maximum speed, the automatic driving vehicle is positioned at the position of the special automatic driving lane;
the vehicle is collected into the automatic driving lane at the minimum speed and then is positioned on the special automatic driving lane.
As shown in fig. 2, the application method of the urban road dynamic automatic driving special lane provided by the invention further comprises the following steps:
step 1, detecting whether an automatic driving vehicle AV drives into a road network or not through an entrance detector;
if yes, displaying characters or patterns of the special lane for prohibiting the social vehicle from driving in by the initial variable information mark, starting a corresponding thunder-vision integrated machine to snap the driving-in social vehicle, starting an intelligent spike, prompting the social vehicle within the shining range of the intelligent spike to immediately drive away by the shining of the intelligent spike, and executing the step 2;
if not, displaying characters or patterns allowing the social vehicle to enter in the special lane by the initial variable information sign;
the lightning all-in-one machine and the intelligent spike are closed, and the step 1 is repeatedly executed;
step 2, detecting whether the automatic driving vehicle AV enters a corresponding road section or not through a road section detector of the first road section, namely, whether the automatic driving vehicle AV enters a special lane or not;
if yes, dynamically adjusting the flashing range of the intelligent spike on the road section where the automatic driving vehicle AV is located, prohibiting the social vehicle from driving into the flashing range of the intelligent spike, simultaneously capturing the social vehicle driving into the flashing range of the intelligent spike through the thunder and vision all-in-one machine on the corresponding road section, and executing the step 3;
if not, repeating the step 2;
step 3, the road segment detector of each road segment is started to detect whether the automatic driving vehicle AV enters the corresponding road segment;
if yes, dynamically adjusting the flashing range of the intelligent spike of the road section where the automatic driving vehicle AV is located, enabling the road section variable information mark of the adjacent next road section to display characters or patterns for prohibiting the social vehicle from driving in, starting the lightning all-in-one machine of the adjacent next road section to snap the social vehicle driving in, starting the intelligent spike of the adjacent next road section, prompting the social vehicle within the flashing range of the intelligent spike to immediately drive out through the flashing of the intelligent spike, adjusting the initial variable information mark or the variable information mark of the previous road section of the road section where the automatic driving vehicle AV is located to display characters or patterns for allowing the social vehicle to drive in the special lane, and executing the step 4;
if not, repeating the step 3;
step 4, a road segment detector of the last road segment detects whether the automatic driving vehicle AV drives out of the corresponding road segment, namely, whether the automatic driving vehicle AV drives out of the special lane;
if yes, displaying characters or patterns of the special lane allowing the social vehicle to drive in by the initial section variable information mark and each section variable information mark; all intelligent spikes are closed and extinguished, and all the lightning is integrally closed;
otherwise, repeating the step 4.
The working flow of the invention in practical application is as follows:
when the automatic driving vehicle AV enters the road network of the urban road, the automatic driving vehicle AV gradually enters the special lane through lane changing, but critical conditions are considered, namely, the social vehicles cannot drive away from the special lane as soon as possible due to the interleaving of the adjacent social vehicles, so that the situation that the automatic driving vehicle is avoided through the arrangement position of the variable information mark is needed, and the running safety of the automatic driving vehicle is ensured. When the autonomous vehicle AV enters any one of the road segments, the display X is canceled by the initial variable information flag or the variable information flag of the preceding road segment, and the specific direction green arrow is darkened or displayed.
When the automatic driving vehicle AV normally runs on the special road, the intelligent spikes in a certain range in front and back dynamically flash along with the position change of the automatic driving vehicle AV, and the lightning integrated machine performs illegal snapshot on the social vehicles which run into the flashing range of the spikes.
When the road segment detector of the last road segment detects that the automatic driving vehicle AV arrives, the road segment variable information sign of the next road segment is changed from allowing the social vehicle in a specific direction to displaying the social vehicle X, meanwhile, the intelligent road spike of the outlet road is flashing, the social vehicle is reminded to prohibit entering, and the social vehicle in the range of the road spike is reminded to drive away as soon as possible.
The distance from each road segment detector to the road segment variable information sign needs to ensure that when the autonomous vehicle AV travels to the exit road at the fastest speed, the social vehicle in front of it on the private road has already traveled away or is outside its clear distance. When the automated driving vehicle AV passes the exit road segment variable information sign, the variable information sign is restored to display by the display "social vehicle X" to allow the social vehicle in a specific direction to pass.
When the automatic driving vehicle AV is driven away, normal running of the social vehicle is recovered, the variable information mark of each road section displays the fixed direction allowing the social vehicle to pass, the radar integrated machine does not snapshot, and the intelligent spike does not flash.
As shown in FIG. 4, in some embodiments, the smart spike fires at the start of a length of flashThe calculation formula is as follows
Wherein,after entering the automatic driving lane at maximum speed, the automatic driving vehicle is positioned at the position of the special automatic driving lane;
S v optional positions for the variable information sign layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is expressed in meters.
In practical application, the flashing of the intelligent spike mainly achieves two purposes: the existing social vehicles on the special road immediately drive away and the adjacent vehicles are prevented from driving in.
The intelligent spike initial flashing length is used for ensuring that no social vehicle exists in a certain distance in front and back directions when an automatic driving vehicle AV changes lanes from an outer lane to an innermost automatic driving special lane. After the automatic driving vehicle AV is driven in, the front section spike and the rear section spike can flash, and the follow-up operation can ensure that the social vehicle is driven off, and the difficulty is mainly in determining the initial flashing length. Due to the influence of multiple factors such as vehicle interleaving, driving track and the like in an actual urban road traffic environment, an automatic driving vehicle may have a plurality of merging points, and in order to ensure enough safety, the main part of the initial flashing length should be the maximum distance from a variable information mark to the possible merging point of an automatic driving vehicle AV entering a special road, and the clearing distance between the automatic driving vehicle and a front vehicle should be included.
In certain embodiments, in step 1, when the social vehicle has been queued at the intersection solid line location and cannot travel away, then exit the dedicated lane at the next intersection exit.
In some embodiments, the method for dynamically adjusting the flash range of the intelligent spike is as follows:
the clear distance between the automatic driving vehicle AV and the front social vehicle + the length of the automatic driving vehicle AV + the safe distance between the automatic driving vehicle and the rear social vehicle.
In some embodiments, the method for dynamically adjusting the flash range of the intelligent spike is as follows:
each road section is segmented at equal intervals according to the total length, and the flashing range of the intelligent spike is an area where an automatic driving vehicle AV is located and an area meeting the safety distance and the emptying distance.
As shown in fig. 5, in some embodiments, when the autopilot vehicle AV is traveling in zone F, the intelligent spikes of EFGH four zones flash.
In practical application, the dynamic flashing of the intelligent spike aims to realize that no social vehicle exists in the emptying distance and the safety distance. Along with the position change of the automatic driving vehicle in the running process of the special road, the flashing range of the intelligent spike needs to be dynamically adjusted.
The former dynamic adjustment has high accuracy, but has higher requirements on the cooperative linkage of the detection means, the control means and the equipment, and compared with the latter dynamic adjustment method, the latter dynamic adjustment method has higher operability. Both methods can be realized through cooperative control of a controller of the lightning all-in-one machine and the intelligent spike.
In some embodiments, the clearance distance L c The calculation formula of (2) is as follows:
wherein,the maximum driving distance of the automatic driving vehicle running on the automatic driving special road in the reaction time is expressed in meters;
the maximum safe braking distance required by sudden stop of a front vehicle is found for an automatic driving vehicle running on an automatic driving special road, and the unit is meter;
the maximum driving distance of the front vehicle in the reaction time is expressed in meters;
the maximum distance required for lane changing when the front vehicle finds the rear vehicle comes is measured in meters;
reaction time in seconds for an autonomous vehicle traveling on an autonomous dedicated road;
max v A the maximum speed of an automatic driving vehicle running on an automatic driving special road is expressed as kilometers per hour;
minimum brake acceleration in meters per second for an autonomous vehicle traveling on an autonomous dedicated road 2 ；
The maximum reaction time of the front vehicle is expressed in seconds;
max v f the maximum speed of the front vehicle is in km/h;
the transverse maximum offset distance for lane change of the front vehicle is expressed in meters.
In practical application, the clearance distance L clear The algebraic signs are different, and the algebraic sign of the same is confirmed to be the distance kept between the front social vehicle and the rear automatic driving vehicle, so that the automatic driving vehicle is mainly ensured to stably run on a special road. The set length of the emptying distance has important influence on the utilization rate of the special track, and when the emptying distance is too long, the emptying time is longer, and the system is dynamicThe special road for the automatic driving vehicle is opened to the social vehicle for a short time, and the utilization rate of the whole lane is not high; when the emptying distance is too short, the emptying time is smaller than the queuing dissipation time of the social vehicles in front, delay is caused to the automatic driving vehicles, and the priority of the automatic driving vehicles cannot be realized, so that the setting length of the emptying distance is a key factor for determining the utilization rate of the dynamic automatic driving special road.
The emptying distance should be composed of the front and rear safety distance and the distance required by the lane change of the front vehicle, namely, the automatic driving vehicle needs to always ensure the safety distance from the front vehicle, and the actions such as speed reduction, sudden stop, lane change and the like of the front vehicle are ensured not to influence the running of the automatic driving vehicle. Meanwhile, when the front vehicle finds that the automatic driving vehicle is at a certain distance behind, the front vehicle should start to change the lane to the non-automatic driving lane.
Furthermore, the interleaving behavior of the front vehicle during lane changing needs to be considered, namely the front vehicle wants to change lanes but cannot timely change lanes due to the influence of social vehicles on adjacent lanes, and the lane changing time takes the maximum test value of 10s.
In some embodiments, the safe distance L s The calculation formula of (2) is as follows:
wherein,for maximum distance travelled by the vehicle behind in response timeThe unit is rice;
when the rear vehicle finds an automatic driving vehicle running on the automatic driving special lane, the maximum distance required by lane change is measured in meters;
when the rear vehicle finds that the automatic driving vehicle running on the automatic driving special road suddenly stops, the required maximum safe braking distance is measured in meters;
the maximum reaction time of the rear vehicle is expressed in seconds;
max v r the unit is kilometers/hour for the maximum speed of the rear vehicle;
the transverse maximum offset distance for lane change of the rear vehicle is expressed in meters;
the minimum braking acceleration of the rear vehicle is expressed in m/s 2 。
In practical application, the safety distance L s I.e. the distance of the autonomous vehicle from the rear social vehicle. The safe distance comprises the distance corresponding to the reaction time and the safe braking distance, and the safe distance also comprises the distance required by the change of the road of the rear social vehicle SV in consideration of the fact that the rear social vehicle SV can be faster than the automatic driving vehicle AV.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention by one of ordinary skill in the art without undue burden. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (4)

1. The application method of the special dynamic automatic driving lane of the urban road is arranged in a road network of the urban road; the method is characterized in that an entrance detector is arranged at the initial starting point of the connection of the road network and the automatic driving vehicle field library as an entrance of the road network;
the special lane comprises more than one road section;
every two adjacent road sections are connected through an intersection, namely, a crossing;
the first road section is provided with an initial road section variable information mark, and the rest road sections are provided with road section variable information marks;
each road section is provided with a road section detector, an intelligent spike and a radar integrated machine;
distance S of the road segment detector of each road segment to the variable information sign of the next adjacent road segment rc The calculation formula of (2) is as follows:
wherein S is rc The distance from the road segment detector of each road segment to the variable information mark of the next adjacent road segment is in meters, and the value of the distance is taken as a large value in ensuring emptying and ensuring channel changing;
L c the clear distance between the automatic driving vehicle AV and the front social vehicle is expressed in meters;
max v A maximum vehicle speed in meters per second for an autonomous vehicle AV traveling on a lane;
min v C the minimum running speed of the social vehicle is expressed in m/s;
the transverse maximum offset distance for the social vehicle lane change is expressed in meters;
the initial road segment variable information flag includes three selectable positions:
the first optional position needs to meet the condition that the distance between the front automatic driving vehicle AV running at the minimum speed and the rear social vehicle running at the maximum speed on the special lane is not less than the emptying distance;
a second of said selectable positions, the safety distance point, being the position closest to the entrance detector;
the third optional position needs to meet the requirement that the distance between the front social vehicle running at the minimum speed and the rear automatic driving vehicle AV running at the maximum speed on the special road is greater than or equal to the safe distance, and the position of the entrance detector is farthest;
the calculation formula is as follows: the driving direction of the special lane is taken as the positive direction of the x axis, the following point positions are compared with the reference position positioned on the x axis, and the third optional position x is sequentially arranged along the positive direction of the x axis 3 First of said selectable positions x 1 And a second said selectable position x 2 ：
When the point C is the last social vehicle which enters the special lane after the automatic driving vehicle AV is detected to start to enter, and the position of the variable information mark of the initial road section is passed;
the point A is the automatic driving vehicle AV entering the road network;
then
S v ＝S a ∪S b ；
Wherein S is a For the initial pathOptional point position a of segment variable information mark layout, and x 1 ≤S a ≤x 2 ；
S b Optional point b laid out for variable information sign, and S b ≤x 3 ；
S v Optional positions for the variable information sign layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is expressed in meters;
L s the unit is meter for the safe distance between the automatic driving vehicle and the rear social vehicle;
t is the running time of the automatic driving vehicle from the position of the entrance ramp detector to the position of the entrance ramp detector converging into the automatic driving special lane, and the unit is s;
min v C the minimum running speed of the social vehicle is expressed in meters per second;
max v C the maximum running speed of the social vehicle is expressed in m/s;
after entering the automatic driving lane at a maximum speed for the automatic driving vehicle, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
after entering the automatic driving lane at a minimum speed for the automatic driving vehicle, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
the method comprises the following steps:
step 1, detecting whether an automatic driving vehicle AV enters a road network or not through the entrance detector;
if yes, displaying characters or patterns of the special lane for prohibiting the social vehicle from driving in, starting the corresponding thunder-vision all-in-one machine to snap the social vehicle which is driven in, starting the intelligent spike, prompting the social vehicle within the flashing range of the intelligent spike to immediately drive away through the flashing of the intelligent spike, and executing the step 2;
if not, displaying characters or patterns allowing the social vehicle to drive in by the special lane by the initial variable information mark;
the lightning all-in-one machine and the intelligent spike are closed, and the step 1 is repeatedly executed;
when the social vehicle is queued at the solid line position of the intersection and cannot drive away, leaving the special lane at the exit of the next intersection;
the method for dynamically adjusting the flashing range of the intelligent spike comprises the following steps:
the clear distance between the automatic driving vehicle AV and the front social vehicle+the length of the automatic driving vehicle AV+the safety distance between the automatic driving vehicle and the rear social vehicle;
step 2, detecting whether the automatic driving vehicle AV enters the corresponding road section or not through the road section detector of the first road section, namely, whether the automatic driving vehicle AV enters the special lane or not;
if yes, dynamically adjusting the flashing range of the intelligent spike on the road section where the automatic driving vehicle AV is located, prohibiting the social vehicle from driving into the flashing range of the intelligent spike, simultaneously capturing the social vehicle driving into the flashing range of the intelligent spike through the thunder and vision all-in-one machine on the corresponding road section, and executing the step 3;
if not, repeating the step 2;
step 3, the road segment detector of each road segment is started to detect whether the automatic driving vehicle AV enters the corresponding road segment;
if yes, dynamically adjusting the flashing range of the intelligent spike of the road section where the automatic driving vehicle AV is located, enabling the road section variable information mark of the next adjacent road section to display characters or patterns for prohibiting the social vehicle from driving in, starting the radar integrated machine of the next adjacent road section to snap the social vehicle driving in, starting the intelligent spike of the next adjacent road section, prompting the social vehicle within the flashing range of the intelligent spike to immediately drive away through the flashing of the intelligent spike, adjusting the initial variable information mark or the variable information mark of the road section before the road section where the automatic driving vehicle AV is located to display characters or patterns for allowing the social vehicle to drive in, and executing the step 4;
if not, repeating the step 3;
step 4, the road section detector of the last road section detects whether the automatic driving vehicle AV drives out of the corresponding road section, namely whether the automatic driving vehicle AV drives out of the special lane;
if yes, displaying characters or patterns of the special lane allowing the social vehicle to drive in by the initial road section variable information mark and each road section variable information mark; all intelligent spikes are closed and extinguished, and all the lightning is integrally closed;
otherwise, repeatedly executing the step 4;
the flashing length of the intelligent spike when started isThe calculation formula is as follows:
wherein,after entering the automatic driving lane at a maximum speed for the automatic driving vehicle, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
S v optional positions for the variable information sign layout;
L c the clear distance between the automatic driving vehicle and the front social vehicle is expressed in meters.
2. The method for using the urban road dynamic autopilot dedicated lane according to claim 1, characterized in that the method for dynamically adjusting the shining range of the intelligent spike is as follows:
and (3) segmenting each road section at equal intervals according to the total length, wherein the flashing range of the intelligent spike is an area where an automatic driving vehicle AV is located and an area meeting the safety distance and the emptying distance.
3. The method of using an urban road dynamic autopilot dedicated lane according to claim 2, characterized in that said emptying distance L c The calculation formula of (2) is as follows:
wherein,the maximum driving distance of the automatic driving vehicle running on the automatic driving special road in the reaction time is expressed in meters;
finding the maximum safe braking distance in meters required by sudden stop of a front vehicle for the automatic driving vehicle running on an automatic driving special road;
the maximum driving distance of the front vehicle in the reaction time is expressed in meters;
the maximum distance required for lane changing when the front vehicle finds the rear vehicle comes is measured in meters;
a reaction time unit is seconds for the autonomous vehicle running on the autonomous dedicated road;
max v A the maximum speed of the automatic driving vehicle running on the automatic driving special road is expressed as kilometers per hour;
for the minimum braking acceleration of the autonomous vehicle travelling on the dedicated autopilot road, in m/s 2 ；
The maximum reaction time of the front vehicle is expressed in seconds;
max v f the unit is kilometers/hour for the maximum speed of the front vehicle;
and (3) changing the transverse maximum offset distance for the front vehicle, wherein the unit is meter.
4. The method of using an urban road dynamic autopilot specific lane according to claim 2, characterized in that said safety distance L s The calculation formula of (2) is as follows:
wherein,the maximum driving distance of the rear vehicle in the reaction time is expressed in meters;
when the rear vehicle finds the automatic driving vehicle running on the automatic driving special road, the maximum distance required by road changing is measured in meters;
finding a maximum safe braking distance in meters required for the rear vehicle when the autonomous vehicle driving on the autonomous dedicated road suddenly stops;
the unit is second for the maximum reaction time of the rear vehicle;
max v r the unit is kilometers/hour for the maximum speed of the rear vehicle;
the transverse maximum offset distance of the lane change for the rear vehicle is expressed in meters;
minimum braking for the rear vehicleAcceleration in meters per second 2 。
CN202210782441.6A 2022-07-05 2022-07-05 Special lane for dynamic automatic driving of urban road and use method thereof Active CN115223362B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210782441.6A CN115223362B (en) 2022-07-05 2022-07-05 Special lane for dynamic automatic driving of urban road and use method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210782441.6A CN115223362B (en) 2022-07-05 2022-07-05 Special lane for dynamic automatic driving of urban road and use method thereof

Publications (2)

Publication Number Publication Date
CN115223362A CN115223362A (en) 2022-10-21
CN115223362B true CN115223362B (en) 2024-02-09

Family

ID=83610768

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210782441.6A Active CN115223362B (en) 2022-07-05 2022-07-05 Special lane for dynamic automatic driving of urban road and use method thereof

Country Status (1)

Country Link
CN (1) CN115223362B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115840404B (en) * 2022-12-21 2023-11-03 浙江大学 Cloud control automatic driving system based on automatic driving special road network and digital twin map
CN116486629B (en) * 2023-05-08 2024-06-25 南京理工大学 Intelligent spike-based automatic driving special lane dynamic management and control system and method
CN116665452B (en) * 2023-06-20 2024-06-07 东南大学 Method, system and storage medium for actively controlling intelligent spike on expressway based on traffic flow running state

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000293783A (en) * 1999-03-31 2000-10-20 Toshiba Corp Vehicle running system and method for automatically running vehicle
CN102254443A (en) * 2011-06-28 2011-11-23 东南大学 Intermittent bus lane control system and method
CN110488844A (en) * 2019-09-08 2019-11-22 刘璐 A kind of Unmanned Systems and control method based on city accommodation road
WO2021004222A1 (en) * 2019-07-11 2021-01-14 江苏大学 Control system and method for dedicated lane for autonomous vehicle
CN112258849A (en) * 2020-10-26 2021-01-22 上海市城市建设设计研究总院（集团）有限公司 Dynamic automatic driving special lane based on expressway and use method thereof
CN112330969A (en) * 2019-08-05 2021-02-05 上海丰豹商务咨询有限公司 City expressway main and auxiliary road vehicle road cooperative special road system
CN112349110A (en) * 2019-08-09 2021-02-09 上海丰豹商务咨询有限公司 Automatic driving special lane inward-outward overtaking system and method for bidirectional 4-10 lane highway
CN114023066A (en) * 2021-11-08 2022-02-08 河海大学 Traffic flow control method for special lane for automatic driving

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000293783A (en) * 1999-03-31 2000-10-20 Toshiba Corp Vehicle running system and method for automatically running vehicle
CN102254443A (en) * 2011-06-28 2011-11-23 东南大学 Intermittent bus lane control system and method
WO2021004222A1 (en) * 2019-07-11 2021-01-14 江苏大学 Control system and method for dedicated lane for autonomous vehicle
CN112330969A (en) * 2019-08-05 2021-02-05 上海丰豹商务咨询有限公司 City expressway main and auxiliary road vehicle road cooperative special road system
CN112349110A (en) * 2019-08-09 2021-02-09 上海丰豹商务咨询有限公司 Automatic driving special lane inward-outward overtaking system and method for bidirectional 4-10 lane highway
CN110488844A (en) * 2019-09-08 2019-11-22 刘璐 A kind of Unmanned Systems and control method based on city accommodation road
CN112258849A (en) * 2020-10-26 2021-01-22 上海市城市建设设计研究总院（集团）有限公司 Dynamic automatic driving special lane based on expressway and use method thereof
CN114023066A (en) * 2021-11-08 2022-02-08 河海大学 Traffic flow control method for special lane for automatic driving

Also Published As

Publication number Publication date
CN115223362A (en) 2022-10-21

Similar Documents

Publication Publication Date Title
CN115223362B (en) Special lane for dynamic automatic driving of urban road and use method thereof
CN112258849B (en) Dynamic automatic driving special lane based on expressway and use method thereof
Patire et al. Lane changing patterns of bane and benefit: Observations of an uphill expressway
CN104157147B (en) Traffic signaling equipment and detection and control method and system for traffic incidents in tunnels
CN109326121B (en) Upstream vehicle confluence control method for expressway construction area
US11810455B2 (en) Urban tunnel variable lane dividing line control method
CN104574979B (en) Motor line does not give way the camera system and method for behavior in accordance with the law through crossing
CN103606287B (en) A kind of prevent the variable speed-limiting control method of rear-end collision near gateway, tunnel
CN103985261A (en) Traffic signal light control method and system based on vehicle queuing length measurement
CN110910646A (en) Cooperative control method for unmanned buses at intersection
CN104575043A (en) Automatic prompt system and method during passing of motor vehicle through pedestrian crosswalk
Najmi et al. Characterizing driver behavior in dilemma zones at signalized roundabouts
CN108842652A (en) A kind of expressway ramp merging area is variable to collaborate graticule and its setting method
CN103236164A (en) Vehicle controlling method for guaranteeing public transport vehicle priority passing
CN111627228A (en) Expressway confluence point lane lamp control system and method
CN107862881A (en) Drive assistance device
CN111915876A (en) Road traffic control system and control method thereof
CN116153102A (en) Road running risk prevention and control system and collaborative dynamic display method
Martin et al. Evaluation of advance warning signals on high speed signalized intersections
CN115880884B (en) Expressway ramp mixed traffic flow control method based on controllable intelligent network vehicle connection
CN114822017B (en) Overhead expressway traffic guidance system for avoiding local congestion queuing
CN114898549B (en) Highway travel time information display system, method and information board
Idewu et al. Joint merge and its impact on merging speeds in lane reduction areas of construction zone
CN111583674A (en) Interleaved road section and method for improving traffic efficiency thereof through radar tracking control
US7409286B2 (en) Application for diminishing or avoiding the unwanted effects of traffic congestion

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant